text: //
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  // Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
  // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
  // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
  
  
  #ifndef PXDV_ARTICULATION_CORE_H
  #define PXDV_ARTICULATION_CORE_H
  
  #include "PxArticulationReducedCoordinate.h"
  
  namespace physx
  {
  	namespace Dy
  	{
  		struct ArticulationCore
  		{
  			//= ATTENTION! =====================================================================================
  			// Changing the data layout of this class breaks the binary serialization format.  See comments for 
  			// PX_BINARY_SERIAL_VERSION.  If a modification is required, please adjust the getBinaryMetaData 
  			// function.  If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
  			// accordingly.
  			//==================================================================================================
  
  			PxU32					internalDriveIterations;
  			PxU32					externalDriveIterations;
  			PxU32					maxProjectionIterations;
  			PxU16					solverIterationCounts; //KS - made a U16 so that it matches PxsRigidCore
  			PxReal					separationTolerance;
  			PxReal					sleepThreshold;
  			PxReal					freezeThreshold;
  			PxReal					wakeCounter;
  			PxArticulationFlags		flags;
  		};
  
  		struct ArticulationJointCoreDirtyFlag
  		{
  			enum Enum
  			{
  				eNONE = 0,
  				eMOTION = 1 << 0,
  				ePOSE = 1 << 1,
  				eTARGETPOSE = 1 << 2,
  				eTARGETVELOCITY = 1 << 3,
  				eALL = eMOTION | ePOSE | eTARGETPOSE | eTARGETVELOCITY
  			};
  		};
  
  		typedef PxFlags<ArticulationJointCoreDirtyFlag::Enum, PxU8> ArticulationJointCoreDirtyFlags;
  		PX_FLAGS_OPERATORS(ArticulationJointCoreDirtyFlag::Enum, PxU8)
  	}
  }
  
  #endif
  
  